Development of Soft Power-Assist Glove and Control Based on Human Intent

Kadowaki, Yoko; Noritsugu, Toshiro; Takaiwa, Masahiro; Sasaki, Daisuke; Kato, Machiko

doi:10.20965/jrm.2011.p0281

Cited by 95 publications

(63 citation statements)

References 7 publications

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“…A recent and promising paradigm consists of delivering forces to the human skeletal system by means of soft, clothing-like frames powered either by pressurizable elastomeric actuators [32,33,3,34,35] or by bowden cables moved by proximally-located motors [36,37,12,17].…”

Section: Exosuitsmentioning

confidence: 99%

Soft wearable assistive robotics: exosuits and supernumerary limbs

2018

Wearable Exoskeleton Systems: Design, Control and Applications

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Section: Exosuitsmentioning

confidence: 99%

Soft wearable assistive robotics: exosuits and supernumerary limbs

2018

Wearable Exoskeleton Systems: Design, Control and Applications

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“…A widely adopted actuation strategy for robotic device is to remotely place the actuation system, and use flexible transmission means [21], [24], [29], [31], [36], [41], in order to decrease the inertia of the moving parts and to enhance the overall system portability and wearability. HX as well employs a cable-driven actuation system through flexible sheaths, namely Bowden cables.…”

Section: A Cable-driven Underactuationmentioning

confidence: 99%

“…Another option is that of soft-exoskeleton [see Fig. 2(c)] where the robot structure is highly deformable and only transmits the actuation motions to the overall human hand via flexible elements [28]- [29]. These devices show very high wearability and adaptability.…”

Section: Introductionmentioning

confidence: 99%

A Powered Finger–Thumb Wearable Hand Exoskeleton With Self-Aligning Joint Axes

Cempini

Cortese

Vitiello

2015

IEEE/ASME Trans. Mechatron.

156

104

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In recent years, the robotic research area has become extremely prolific in terms of wearable active exoskeletons for human body motion assistance, with the presentation of many novel devices, for upper limbs, lower limbs, and the hand. The hand shows a complex morphology, a high intersubject variability, and offers limited space for physical interaction with a robot: as a result, hand exoskeletons usually are heavy, cumbersome, and poorly usable. This paper introduces a novel device designed on the basis of human kinematic compatibility, wearability, and portability criteria. This hand exoskeleton, briefly HX, embeds several features as underactuated joints, passive degrees of freedom ensuring adaptability and compliance toward the hand anthropometric variability, and an ad hoc design of self-alignment mechanisms to absorb human/robot joint axes misplacement, and proposes a novel mechanism for the thumb opposition. The HX kinematic design and actuation are discussed together with theoretical and experimental data validating its adaptability performances. Results suggest that HX matches the self-alignment design goal and is then suited for close human-robot interaction.

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“…An approach of making it flexible is to adopt a linkage with redundant degrees of freedom [19]. Another way is through tendon-driven mechanisms [20,21] or soft pneumatic actuators as part of a wearable system [22]. Underactuated wearable devices are usually achieved by attaching and controlling the movement of the distal segment directly [23].…”

Section: Introductionmentioning

confidence: 99%

Geometric design of eight-bar wearable devices based on limb physiological contact task

Robson

Soh

2016

Mechanism and Machine Theory

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A B S T R A C TThis paper describes a geometric design method for the motion generation of mechanical wearable devices based on desired limb physiological contact task, parametrized by first and second order motion specifications. Specifically, our approach combines the higher order motion task specifications with anthropometric back-bone chain to synthesize planar eightbar linkages that achieve the desired motion task. The method is demonstrated by an example that offers a novel alternative approach for wearable devices design: a comprehensive systematic process to create devices, based on a backbone chain that is sized according to the physical dimensions of the human limb. Once it is ensured that the backbone chain motion is close to the physiological one, the rest of the multi-loop wearable device is designed. In the end of the process the wearable device is attached, so that the backbone chain parallels the human's limb itself to provide the skeletal structure for the limb yet passively follow its motion. This results in mechanical devices with compact size, minimal actuation and better wearability.

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Development of Soft Power-Assist Glove and Control Based on Human Intent

Cited by 95 publications

References 7 publications

Soft wearable assistive robotics: exosuits and supernumerary limbs

Soft wearable assistive robotics: exosuits and supernumerary limbs

A Powered Finger–Thumb Wearable Hand Exoskeleton With Self-Aligning Joint Axes

Geometric design of eight-bar wearable devices based on limb physiological contact task

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